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Subaru: don't copy eyesight counters, calculate manually (#29533)

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* subaru manual counters

* update ref

* that isn't used

* review suggestions
pull/109/head
Justin Newberry 2 years ago committed by GitHub
parent 96fd66e4e2
commit 338288df6e
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 28 additions and 21 deletions
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  1. 15
      selfdrive/car/subaru/carcontroller.py
  2. 32
      selfdrive/car/subaru/subarucan.py
  3. 2
      selfdrive/test/process_replay/ref_commit

15
selfdrive/car/subaru/carcontroller.py
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@ -80,29 +80,30 @@ class CarController:
else: else:
if self.frame % 10 == 0: if self.frame % 10 == 0:
can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
CC.longActive, hud_control.leadVisible)) CC.longActive, hud_control.leadVisible))
can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart)) hud_control.leftLaneDepart, hud_control.rightLaneDepart))
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert)) can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
if self.CP.openpilotLongitudinalControl: if self.CP.openpilotLongitudinalControl:
if self.frame % 5 == 0: if self.frame % 5 == 0:
can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake)) can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd, can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
else: else:
if pcm_cancel_cmd: if pcm_cancel_cmd:
if self.CP.carFingerprint not in HYBRID_CARS: if self.CP.carFingerprint not in HYBRID_CARS:
bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
new_actuators = actuators.copy() new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

32
selfdrive/car/subaru/subarucan.py
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@ -16,10 +16,9 @@ def create_steering_control(packer, apply_steer, steer_req):
def create_steering_status(packer): def create_steering_status(packer):
return packer.make_can_msg("ES_LKAS_State", 0, {}) return packer.make_can_msg("ES_LKAS_State", 0, {})
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0): def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
values = {s: es_distance_msg[s] for s in [ values = {s: es_distance_msg[s] for s in [
"CHECKSUM", "CHECKSUM",
"COUNTER",
"Signal1", "Signal1",
"Cruise_Fault", "Cruise_Fault",
"Cruise_Throttle", "Cruise_Throttle",
@ -39,7 +38,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
"Cruise_Resume", "Cruise_Resume",
"Signal6", "Signal6",
]} ]}
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
values["COUNTER"] = frame % 0x10
if long_enabled: if long_enabled:
values["Cruise_Throttle"] = cruise_throttle values["Cruise_Throttle"] = cruise_throttle
@ -57,10 +57,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
return packer.make_can_msg("ES_Distance", bus, values) return packer.make_can_msg("ES_Distance", bus, values)
def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
values = {s: es_lkas_state_msg[s] for s in [ values = {s: es_lkas_state_msg[s] for s in [
"CHECKSUM", "CHECKSUM",
"COUNTER",
"LKAS_Alert_Msg", "LKAS_Alert_Msg",
"Signal1", "Signal1",
"LKAS_ACTIVE", "LKAS_ACTIVE",
@ -77,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
"Signal3", "Signal3",
]} ]}
values["COUNTER"] = frame % 0x10
# Filter the stock LKAS "Keep hands on wheel" alert # Filter the stock LKAS "Keep hands on wheel" alert
if values["LKAS_Alert_Msg"] == 1: if values["LKAS_Alert_Msg"] == 1:
values["LKAS_Alert_Msg"] = 0 values["LKAS_Alert_Msg"] = 0
@ -119,10 +120,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
return packer.make_can_msg("ES_LKAS_State", CanBus.main, values) return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible): def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
values = {s: dashstatus_msg[s] for s in [ values = {s: dashstatus_msg[s] for s in [
"CHECKSUM", "CHECKSUM",
"COUNTER",
"PCB_Off", "PCB_Off",
"LDW_Off", "LDW_Off",
"Signal1", "Signal1",
@ -150,6 +150,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
"Cruise_State", "Cruise_State",
]} ]}
values["COUNTER"] = frame % 0x10
if enabled and long_active: if enabled and long_active:
values["Cruise_State"] = 0 values["Cruise_State"] = 0
values["Cruise_Activated"] = 1 values["Cruise_Activated"] = 1
@ -165,10 +167,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
return packer.make_can_msg("ES_DashStatus", CanBus.main, values) return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
def create_es_brake(packer, es_brake_msg, enabled, brake_value): def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
values = {s: es_brake_msg[s] for s in [ values = {s: es_brake_msg[s] for s in [
"CHECKSUM", "CHECKSUM",
"COUNTER",
"Signal1", "Signal1",
"Brake_Pressure", "Brake_Pressure",
"AEB_Status", "AEB_Status",
@ -179,6 +180,8 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
"Signal3", "Signal3",
]} ]}
values["COUNTER"] = frame % 0x10
if enabled: if enabled:
values["Cruise_Activated"] = 1 values["Cruise_Activated"] = 1
@ -190,10 +193,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
return packer.make_can_msg("ES_Brake", CanBus.main, values) return packer.make_can_msg("ES_Brake", CanBus.main, values)
def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm): def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
values = {s: es_status_msg[s] for s in [ values = {s: es_status_msg[s] for s in [
"CHECKSUM", "CHECKSUM",
"COUNTER",
"Signal1", "Signal1",
"Cruise_Fault", "Cruise_Fault",
"Cruise_RPM", "Cruise_RPM",
@ -204,6 +206,8 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
"Signal3", "Signal3",
]} ]}
values["COUNTER"] = frame % 0x10
if long_enabled: if long_enabled:
values["Cruise_RPM"] = cruise_rpm values["Cruise_RPM"] = cruise_rpm
@ -213,16 +217,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
return packer.make_can_msg("ES_Status", CanBus.main, values) return packer.make_can_msg("ES_Status", CanBus.main, values)
def create_es_infotainment(packer, es_infotainment_msg, visual_alert): def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
values = {s: es_infotainment_msg[s] for s in [ values = {s: es_infotainment_msg[s] for s in [
"CHECKSUM", "CHECKSUM",
"COUNTER",
"LKAS_State_Infotainment", "LKAS_State_Infotainment",
"LKAS_Blue_Lines", "LKAS_Blue_Lines",
"Signal1", "Signal1",
"Signal2", "Signal2",
]} ]}
values["COUNTER"] = frame % 0x10
if values["LKAS_State_Infotainment"] in (3, 4): if values["LKAS_State_Infotainment"] in (3, 4):
values["LKAS_State_Infotainment"] = 0 values["LKAS_State_Infotainment"] = 0

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
20022e4a1b5f5df343465180a3865b0c78890544 649c512f95d9ad80e7c8c4d852cfa5f468a28fd5
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